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VTOL Tailsitter: add back transition throttle blending

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-04-19 19:58:05 +02:00
parent f119b15ff1
commit b5988ed38f
2 changed files with 14 additions and 0 deletions
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10
src/modules/vtol_att_control/tailsitter.cpp
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@ -225,6 +225,11 @@ void Tailsitter::update_transition_state()
_v_att_sp->thrust_body[2] = _mc_virtual_att_sp->thrust_body[2];
if (_vtol_mode == vtol_mode::TRANSITION_BACK) {
const float progress = math::constrain(_time_since_trans_start / B_TRANS_THRUST_BLENDING_DURATION, 0.f, 1.f);
blendThrottleBeginningBackTransition(progress);
}
_v_att_sp->timestamp = hrt_absolute_time();
const Eulerf euler_sp(_q_trans_sp);
@ -351,3 +356,8 @@ void Tailsitter::blendThrottleAfterFrontTransition(float scale)
// note: MC throttle is negative (as in negative z), while FW throttle is positive (positive x)
_v_att_sp->thrust_body[0] = scale * _v_att_sp->thrust_body[0] + (1.f - scale) * (-_last_thr_in_mc);
}
void Tailsitter::blendThrottleBeginningBackTransition(float scale)
{
_v_att_sp->thrust_body[2] = scale * _v_att_sp->thrust_body[2] + (1.f - scale) * (-_last_thr_in_fw_mode);
}

4
src/modules/vtol_att_control/tailsitter.h
View File

@ -54,6 +54,9 @@ static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW = -1.05f; // -60°
// [rad] Pitch threshold required for completing transition to hover in automatic transitions
static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC = -0.26f; // -15°
// [s] Thrust blending duration from fixed-wing to back transition throttle
static constexpr float B_TRANS_THRUST_BLENDING_DURATION = 0.5f;
class Tailsitter : public VtolType
{
@ -67,6 +70,7 @@ public:
void fill_actuator_outputs() override;
void waiting_on_tecs() override;
void blendThrottleAfterFrontTransition(float scale) override;
void blendThrottleBeginningBackTransition(float scale);
private:
enum class vtol_mode {